This paper addresses the problem of nonlinear filter design to estimate the relative position and velocity of an unmanned air vehicle (UAV) with respect to a point on a ship using infrared (IR) vision, inertial, and air data sensors. Sufficient conditions are derived for the existence of a particular type of complementary filters with guaranteed stability and performance in the presence of so-called out-of-frame events that arise when the vision system loses its target temporarily. The results obtained build upon new developments in the theory of linear parametrically varying systems (LPVs) with brief instabilities - also reported in the paper - and provide the proper framework to deal with out-of-frame events. Field tests with a prototype UAV illustrate the performance of the filter and the scope of applications of the new theory developed.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Linear parametrically varying systems with brief instabilities: an application to vision/inertial navigation


    Contributors:


    Publication date :

    2004-07-01


    Size :

    2583639 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English